Fix Version/s: None
Sprint:TSSW Sprint - Feb 28 - Mar 14, TSSW Sprint - Mar 14 - Mar 28
Team:Telescope and Site
Fix the bug that the client needs to send twice of clearError command. This needs to modify the hexapod and rotator controller codes.
- is triggering
DM-34410 MTHexapod and MTRotator: stop sending clearError twice to the low-level controller
Tested the update camera hexapod software on summit. Right now, the EUI will not need to do the clearError for the interlock fault but there is no signal actually.
I ran the EUI of camera hexapod again to make sure this behavior.
I realized there is the bug in the EUI that it will take over the control again after putting the control to CSC. This is because when the people clicks the stop button, it will issue the command to put the system back to a specific state. Need to fix this.
Please help to review the PRs:
In ts_rotator_controller, the following global variables are involved in the clearError command: gInterlockOpen, gDriveFault, and gLinearEncFault. All of them are volatile and independent.